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Håvard Fjær Grip
Research Technologist

Journal Papers and Book Chapters:
  1. X. Wang, H. F. Grip, A. Saberi, A. A. Stoorvogel, and I. Saberi, "Remarks on the relationship between Lp stability and internal stability of nonlinear systems," International Journal of Robust and Nonlinear Control (to appear), 2013.
  2. X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, "Control of open-loop neutrally stable systems subject to actuator saturation and external disturbances," International Journal of Robust and Nonlinear Control, vol. 23, no. 2, pp. 229–240, 2013.
  3. T. Yang, A. A. Stoorvogel, H. F. Grip, and A. Saberi, "Semi-global regulation of output synchronization for heterogeneous networks of non-introspective, invertible agents subject to actuator saturation," International Journal of Robust and Nonlinear Control (to appear), 2013.
  4. H. F. Grip and A. Saberi, "High-gain observer design for multi-output systems: Transformation to a canonical form by dynamic output shaping," International Journal of Robust and Nonlinear Control, Special Issue on High Gain Observers and Nonlinear Output Feedback Control (to appear), 2013.
  5. X. Wang, A. Saberi, A. A. Stoorvogel, H. F. Grip, and T. Yang, "Consensus in the network with uniform constant communication delay," Automatica (to appear), 2013.
  6. T. Yang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Output synchronization for heterogeneous networks of introspective right-invertible agents," International Journal of Robust and Nonlinear Control (to appear), 2013.
  7. H. F. Grip, A. Saberi, and A. A. Stoorvogel, "On the existence of virtual exosystems for synchronized linear networks," Automatica (to appear), 2013.
  8. X. Wang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Further results on the disturbance response of a double integrator controlled by saturating linear state feedback," Automatica, vol. 48, no. 2, pp. 430–435, 2012.
  9. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "Attitude estimation using biased gyro and vector measurements with time-varying reference vectors," IEEE Transactions on Automatic Control, vol. 57, no. 5, pp. 1332–1338, 2012.
  10. H. F. Grip, A. Saberi, and T. A. Johansen, "Observers for interconnected nonlinear and linear systems," Automatica, vol. 48, no. 7, pp. 1339–1346, 2012.
  11. X. Wang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Control of a chain of integrators subject to actuator saturation and disturbances," International Journal of Robust and Nonlinear Control, vol. 22, no. 14, pp. 1562–1570, 2012.
  12. X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, "Simultaneous external and internal stabilization of linear systems with input saturation and non-input-additive sustained disturbances," Automatica, vol. 48, no. 10, pp. 2633–2639, 2012.
  13. H. F. Grip, T. Yang, A. Saberi, and A. A. Stoorvogel, "Output synchronization for heterogeneous networks of non-introspective agents," Automatica, vol. 48, no. 10, pp. 2444–2453, 2012.
  14. H. F. Grip, A. Saberi, and T. A. Johansen, "Estimation of states and parameters for linear systems with nonlinearly parameterized perturbations," Systems & Control Letters, vol. 60, no. 9, pp. 771–777, 2011.
  15. X. Wang, A. A. Stoorvogel, A. Saberi, H. F. Grip, and P. Sannuti, "Stabilization of nonlinear sandwich systems via state feedback discrete-time systems," International Journal of Robust and Nonlinear Control, vol. 21, no. 16, pp. 1841–1864, 2011.
  16. H. F. Grip, T. A. Johansen, L. Imsland, and G.-O. Kaasa, "Parameter estimation and compensation in systems with nonlinearly parameterized perturbations," Automatica, vol. 46, no. 1, pp. 19–28, 2010.
  17. H. F. Grip and A. Saberi, "Structural decomposition of linear multivariable systems using symbolic computations," International Journal of Control, vol. 83, no. 7, pp. 1414-1426, 2010.
  18. X. Wang, A. A. Stoorvogel, A. Saberi, H. F. Grip, S. Roy, and P. Sannuti, "Stabilization of a class of nonlinear sandwich systems via state feedback," IEEE Transactions on Automatic Control, vol. 55, no. 9, pp. 2156–2160, 2010.
  19. H. F. Grip, A. Saberi, and X. Wang, "Stabilization of multiple-input multiple-output linear systems with saturated outputs," IEEE Transactions on Automatic Control, vol. 55, no. 9, pp. 2160–2164, 2010.
  20. H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, "Vehicle sideslip estimation: Design, implementation, and experimental validation," IEEE Control Systems Magazine, vol. 29, no. 5, pp. 36-52, 2009.
  21. H. F. Grip, L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, "Nonlinear vehicle side-slip estimation with friction adaptation," Automatica, vol. 44, no. 3, pp. 611-622, 2008.
  22. L. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, "Nonlinear observer for vehicle velocity with friction and road bank angle adaptation validation and comparison with an extended Kalman filter," SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems, A.C. Alkidas and D.C. Siegla, Eds., SAE International, pp. 722–734, 2008.
  23. L. Imsland, T. A. Johansen, H. F. Grip, and T. I. Fossen, "On nonlinear unknown input observers applied to lateral vehicle velocity estimation on banked road," International Journal of Control, vol. 80, no. 11, pp. 1741-1750, 2007.
  24. L. Imsland, T. A. Johansen, T. I. Fossen, H. F. Grip, J. C. Kalkkuhl, and A. Suissa, "Vehicle velocity estimation using nonlinear observers," Automatica, vol. 42, no. 12, pp. 2091-2103, 2006.

Refereed Conference Papers:
  1. H. F. Grip, A. Saberi, T. Yang, and A. A. Stoorvogel, "Output synchronization for heterogeneous networks of non-introspective, non-right-invertible agents," Proc. American Control Conference, Washington, DC (to appear), 2013.
  2. E. Peymani, H. F. Grip, A. Saberi, X. Wang, and T. I. Fossen, "H almost synchronization for non-identical introspective multi-agent systems under external disturbances," Proc. American Control Conference, Washington, DC (to appear), 2013.
  3. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "Nonlinear observer for GNSS-aided inertial navigation with quaternion-based attitude estimation," Proc. American Control Conference, Washington, DC (to appear), 2013.
  4. H. F. Grip, A, Saberi, and A. A. Stoorvogel, "Regulated output synchronization for heterogeneous networks of non-introspective, minimum-phase SISO agents without exchange of controller states," Proc. European Control Conference, Zurich, Switzerland (to appear), 2013.
  5. E. Peymani, H. F. Grip, Ali Saberi, Xu Wang, and Thor I. Fossen, "H almost regulated synchronization and H almost formation for heterogeneous networks under external disturbances," Proc. European Control Conference, Zurich, Switzerland (to appear), 2013.
  6. X. Wang, H. F. Grip, A. Saberi, and T. A. Johansen, "A new low-and-high gain feedback design using MPC for global stabilization of linear systems subject to input saturation," Proc. American Control Conference, Montreal, Canada, pp. 2337–2342, 2012.
  7. X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, "Control of linear systems with input saturation and non-input-additive sustained disturbances discrete-time systems," Proc. American Control Conference, Montreal, Canada, pp. 2319–2324, 2012.
  8. X. Wang, A. Saberi, H. F. Grip, and A. A. Stoorvogel, "Control of linear systems with input saturation and non-input-additive sustained disturbances continuous-time systems," Proc. American Control Conference, Montreal, Canada, pp. 2313–2318, 2012.
  9. H. F. Grip, T. Yang, A. Saberi, and A. A. Stoorvogel, "Decentralized control for output synchronization in heterogeneous networks of non-introspective agents," Proc. American Control Conference, Montreal, Canada, pp. 812–819, 2012.
  10. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "A nonlinear observer for integration of GNSS and IMU measurements with gyro bias estimation," Proc. American Control Conference, Montreal, Canada, pp. 4607–4612, 2012.
  11. T. Yang, A. A. Stoorvogel, H. F. Grip, and A. Saberi, "Semi-global regulation of output consensus for networks of non-identical, invertible linear agents subject to actuator saturation," Proc. IEEE Conference on Decision and Control, Maui, HI, pp. 5298-5303, 2012.
  12. X. Wang, A. Saberi, A. A. Storvogel, H. F. Grip, and T. Yang, "Consensus in the network with uniform constant communication delay," Proc. IEEE Conference on Decision and Control, Maui, HI, pp. 3252-3257, 2012.
  13. X. Wang, H. F. Grip, A. Saberi, A. A. Stoorvogel, and I. Saberi, "Remarks on the relationship between Lp stability and internal stability of nonlinear systems," Proc. American Control Conference, San Francisco, CA, pp. 1969–1970, 2011.
  14. H. F. Grip, A. Saberi, and T. A. Johansen, "State and parameter estimation for nonlinearly parameterized systems: An H-based approach," Proc. IFAC World Congress, Milano, Italy, pp. 2997–3002, 2011.
  15. H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "Attitude estimation based on time-varying reference vectors with biased gyro and vector measurements," Proc. IFAC World Congress, Milano, Italy, pp. 8497–8502, 2011.
  16. T. Yang, A. Saberi, A. A. Stoorvogel, and H. F. Grip, "Output consensus for networks of non-identical introspective agents," Proc. IEEE Conference on Decision and Control, Orlando, FL, 1286–1292, 2011.
  17. H. F. Grip, A. Saberi, and T. A. Johansen, "Observers for cascaded nonlinear and linear systems," Proc. IEEE Conference on Decision and Control, Orlando, FL, pp. 3331–3337, 2011.
  18. H. F. Grip, A. Saberi, A. A. Stoorvogel, X. Wang, and S. Roy, "Semiglobal stabilization of sandwich systems by dynamic output feedback," Proc. American Control Conference, Baltimore, MD, pp. 4229–4234, 2010.
  19. A. Folk, B. Armstrong, E. Wolbrecht, H. F. Grip, M. Anderson, and D. Edwards, "Autonomous underwater vehicle navigation using moving baseline on a target ship," Proc. IEEE OCEANS Conference, Seattle, WA, 2010.
  20. H. F. Grip and A. Saberi, "High-gain observer design for domination of nonlinear perturbations: Transformation to a canonical form by dynamic output shaping," Proc. IEEE Conference on Decision and Control, Atlanta, GA, pp. 5043–5049, 2010.
  21. H. F. Grip, L. Imsland, T. A. Johansen, J. C. Kalkkuhl, and A. Suissa, "Estimation of road inclination and bank angle in automotive vehicles," Proc. American Control Conference, St. Louis, MO, pp. 426–432, 2009.
  22. H. F. Grip and A. Saberi, "Structural decomposition of linear multivariable systems using symbolic computations," Proc. Asian Control Conference, Hong Kong, China, pp. 1205–1210, 2009.
  23. X. Wang, A. A. Stoorvogel, A. Saberi, H. F. Grip, S. Roy, and P. Sannuti, "Stabilization of a class of sandwich nonlinear systems via state feedback," Proc. IEEE Conference on Decision and Control, Shanghai, China, pp. 1417–1421, 2009.
  24. H. F. Grip, A. Saberi, and T. A. Johansen, "State and parameter estimation for linear systems with nonlinearly parameterized perturbations," Proc. IEEE Conference on Decision and Control, Shanghai, China, pp. 8218–8225, 2009.
  25. H. F. Grip and A. Saberi, "Observer design in the presence of periodic output disturbances by mixing of past and present output data," Proc. IEEE Conference on Decision and Control, Shanghai, China, pp. 6101–6106, 2009.
  26. H. F. Grip, T. A. Johansen, and L. Imsland, "Estimation and control for systems with nonlinearly parameterized perturbations," Proc. IFAC World Congress, Seoul, South Korea, pp. 11178–11183, 2008.
  27. L. Imsland, H. F. Grip, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, "Nonlinear observer for vehicle velocity with friction and road bank angle adaptation validation and comparison with an extended Kalman filter," Proc. SAE World Congress, Detroit, MI, paper no. 2007-01-0808, 2007. (Link)
  28. H. F. Grip, L. Imsland, T. A. Johansen, T. I. Fossen, J. C. Kalkkuhl, and A. Suissa, "Nonlinear vehicle velocity observer with road-tire friction adaptation," Proc. IEEE Conference on Decision and Control, San Diego, CA, pp. 3603–3608, 2006.

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